Control for adaptive lighting array

ABSTRACT

An illumination system for a room comprises a light assembly comprising at least one illumination source configured to selectively direct at least one light emission in an operating region of the room. The system further comprises an imager configured to capture image data in a field of view in the room. A controller is in communication with the light assembly and the imager. The controller is configured to detect a position of the marker in the image data and control the light assembly to direct the at least one light emission within the operating region based on the position of the marker.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 U.S.C. § 119(e) and thebenefit of U.S. Provisional Application No. 62/788,400 entitled CONTROLFOR ADAPTIVE LIGHTING ARRAY, filed on Jan. 4, 2019, by Jason D. Hallacket al., the entire disclosure of which is incorporated herein byreference.

FIELD OF THE DISCLOSURE

The present disclosure generally relates to illumination systems, andmore particularly, to a surgical theater and surgical suite illuminationsystems.

BACKGROUND OF THE DISCLOSURE

Artificial lighting provided in surgical theaters and surgical suitesmay present a number of issues with regard to positioning, shadows,luminosity, and glare. Often, medical professionals are not stationaryand the lighting needs to be dynamic due to the shifting of personneland instruments throughout the surgical procedure. Further, differencesin the physical dimensions of personnel may make positioning lightsources challenging. Accordingly, new illumination systems for surgicalsuites may be advantageous.

SUMMARY OF THE PRESENT DISCLOSURE

According to one aspect of this disclosure, an illumination system for aroom is disclosed. The system comprises a light assembly comprising atleast one illumination source configured to selectively direct at leastone light emission in an operating region of the room. The systemfurther comprises an imager configured to capture image data in a fieldof view in the room. A controller is in communication with the lightassembly and the imager. The controller is configured to detect aposition of the marker in the image data and control the light assemblyto direct the at least one light emission within the operating regionbased on the position of the marker.

According to another aspect of this disclosure, a method for controllinga light assembly comprising at least one illumination source configuredto selectively direct a plurality of light emissions in an operatingregion of a room. The method comprising capturing image data in a fieldof view in the room, detecting a position of the marker in the imagedata; and directing a first light emission within the operating regionbased on the position of the marker. The method further comprisesdetecting the marker in the image data entering the operating region ofthe field of view from outside an operating perimeter of the operatingregion. In response to detecting the marker entering the operatingregion, the method further comprises controlling the light assembly todirect a second light emission within the operating region based on theposition of the marker.

According to yet another aspect of this disclosure, an illuminationsystem for a room is disclosed. The system comprises a light assemblycomprising at least one illumination source configured to selectivelydirect at least one light emission in an operating region of the room.An imager is configured to capture image data in a field of view in theroom. A controller is in communication with the light assembly and theimager. The controller is configured to control the light assembly todirect the at least one emission illuminating a lighting region of theoperating region and detect a position of the marker in the image data.The controller is further configured to selectively control a targetlocation of the at least one light emission in response to identifyingthe marker proximate to the lighting region for a predetermined periodof time. In response to identifying a change in the position of themarker at a rate of motion within a predetermined velocity range in thefield of view, the controller is configured to track the motion of themarker within the operating region and adjust the target location of theat least one light emission to change commensurate to the motion of themarker within the operating region. The controller is further configuredto control the light assembly to direct the at least one light emissionto impinge upon the target location in response to the change in thetarget location.

These and other aspects, objects, and features of the present disclosurewill be understood and appreciated by those skilled in the art uponstudying the following specification, claims, and appended drawings. Itwill also be understood that features of each example disclosed hereinmay be used in conjunction with, or as a replacement for, features ofthe other examples.

BRIEF DESCRIPTION OF THE DRAWINGS

The following is a description of the figures in the accompanyingdrawings. The figures are not necessarily to scale, and certain featuresand certain views of the figures may be shown exaggerated in scale or inschematic in the interest of clarity and conciseness.

In the drawings:

FIG. 1 is a schematic view of a surgical suite comprising anillumination system;

FIG. 2 is a schematic view lighting module of an illumination system;

FIG. 3 is a schematic view of an illumination system comprising anarticulating head assembly including an array of lighting modules;

FIG. 4 is a flowchart demonstrating a method for controlling anillumination system;

FIG. 5 is a flowchart demonstrating a method for controlling a pluralityof illumination regions of an illumination system;

FIG. 6 is a flowchart demonstrating a method for controllingillumination regions of an illumination system continued from FIG. 5;

FIG. 7 is an illustrative diagram demonstrating a method for controllinga plurality of illumination regions of an illumination system; and

FIG. 8 is a block diagram demonstrating the illumination system inaccordance with the disclosure.

DETAILED DESCRIPTION

Additional features and advantages of the invention will be set forth inthe detailed description which follows and will be apparent to thoseskilled in the art from the description or recognized by practicing theinvention as described in the following description together with theclaims and appended drawings.

As used herein, the term “and/or,” when used in a list of two or moreitems, means that any one of the listed items can be employed by itself,or any combination of two or more of the listed items can be employed.For example, if a composition is described as containing components A,B, and/or C, the composition can contain A alone; B alone; C alone; Aand B in combination; A and C in combination; B and C in combination; orA, B, and C in combination.

In this document, relational terms, such as first and second, top andbottom, and the like, are used solely to distinguish one entity oraction from another entity or action, without necessarily requiring orimplying any actual such relationship or order between such entities oractions. The terms “comprises,” “comprising,” or any other variationthereof, are intended to cover a non-exclusive inclusion, such that aprocess, method, article, or apparatus that comprises a list of elementsdoes not include only those elements but may include other elements notexpressly listed or inherent to such process, method, article, orapparatus. An element proceeded by “comprises . . . a” does not, withoutmore constraints, preclude the existence of additional identicalelements in the process, method, article, or apparatus that comprisesthe element.

Referring generally to FIGS. 1-4, the disclosure provides for anillumination system 10. The illumination system 10 may comprise acontroller 12 and various accessories that may be utilized in a medicalsuite 14 to selectively illuminate a location or operating region 16.The illumination system 10 may comprise one or more light assemblies 18,which may include one or more light sources 20. Additionally, the system10 may comprise at least one imager 22 operable to capture image data ina field of view 24 comprising the operating region 16. In an exemplaryembodiment, the controller 12 of the system 10 may be configured to scanthe operating region 16 to identify a location of a marker 26. Based onthe location of the marker 26, the controller 12 may control a lightingemission from the one or more light sources 20 to illuminate thelocation corresponding to the position of the marker 26 identified inthe image data. In this way, the system 10 may provide for acomputer-assisted control of a direction of lighting emissions directedfrom the one or more light sources to conveniently illuminate variouslocations within the operating region 16.

In some examples, the system 10 may be configured to illuminate aplurality of positions or target regions 30, which may be located withinthe operating region 16. The target regions 30 may comprise at least afirst target region 30 a and a second target region 30 b. In such cases,the system 10 may be configured to track the motion of the marker 26 toindependently adjust the position of each of the target regions 30. Suchtracking may be at least partially determined by the controller 12 ofthe system 10 by detecting motion and/or rate of motion of the marker 26in the field of view 24. Additionally, the controller 12 may beconfigured to identify one or more gestures and/or tracking cues thatmay be controlled by a user 32 by manipulating or adjusting a positionof a control instrument 34 comprising the marker 26. Various examples ofsuch operations are discussed in reference to FIGS. 5-8. Accordingly,the disclosure may provide for a variety of operating methods that mayprovide for the system to be controlled intuitively and efficientlywithout unnecessary distractions.

Referring now to FIG. 1, reference numeral 10 generally designates anillumination system 10. The illumination system 10 is depicted in amedical suite 14 and includes one or more light assemblies 18. The lightassemblies 18 may include one or more light sources 20. The illuminationsystem 10 may include one or more imagers 22 depicted to aid in the useof the illumination system 10. The imagers 22 may be positioned withinor coupled to the light assemblies 18 (e.g., in handles or bodies), atable 28, and/or around the medical suite 14. The imager 22 may be acharge-coupled device (CCD) imager, a complementarymetal-oxide-semiconductor (CMOS) imager, other types of imagers, and/orcombinations thereof. According to various examples, the imager 22 mayinclude one or more lenses to collimate and/or focus the light reflectedby the patient, the table 28, or other features of the medical suite 14.

The table 28 may at least partially define the operating region 16. Forpurposes of this disclosure, the operating region 16 may be an operatingfield which is an isolated area where surgery is performed and mayinclude all furniture and equipment covered with sterile drapes and allpersonnel being properly attired. Although described in connection withthe medical suite 14, it will be understood that the illumination system10 of the present disclosure may be utilized in a variety ofenvironments. For example, the illumination system 10 may be utilized inautomobile repair areas, doctor's offices, dentistry, photographystudios, manufacturing settings, as well as other areas where dynamiclighting solutions may be advantageous.

The table 28 is configured to support a patient during a surgicalprocedure. According to various examples, the table 28 may have asquare, rectangular and/or oval configuration. The table 28 may becomposed of a metal (e.g., stainless steel), a polymer and/orcombinations thereof. According to various examples, a sterile covering(e.g., a cloth or paper) may be positioned across a surface of the table28. The table 28 may be configured to tilt, rotate and/or be raised orlowered. In examples where the table 28 is configured to tilt, the table28 may tilt an angle from about 1° to about 10° about a long or a shortaxis of the table 28. The tilting of the table 28 may be performed inconjunction with illumination provided from the illumination system 10and/or the light assemblies 18. For example, the table 28 may beconfigured to tilt toward and/or away from the light assemblies 18 toincrease illumination, decrease illumination and/or to eliminate glarereflecting off of the patient and/or table 28. Further, tilting of thetable 28 may be advantageous in allowing users (e.g., medical personnel)positioned around the table 28 to more easily access the patient and/orsurgical field. In addition to tilting, it will be understood that thetable 28 may be configured to raise or lower, rotate and/or slide aboutan X-Y plane.

The light assemblies 18 may take a variety of configurations. The lightassemblies may include one or more light sources 20. In a first example,the light assemblies 18 may be modular and interconnected and supportedon a track system. For example, the light assemblies 18 may have acircular, oval, oblong, triangular, square, rectangular, pentagonal orhigher-order polygon shape. It will be understood that different lightassemblies 18 may be provided in different forms and that theillumination system 10 may include a variety of light assemblies 18.

The operating region 16 may be illuminated by a detection emission 38,shown projected in a field of view 24 of the imager 22. The detectionemission 38 may be emitted from one or more of the light sources 20 in asubstantially non-visible wavelength of light. In an exemplaryembodiment, the detection emission 38 may be emitted from a detectionemitter 20 a as infrared light (e.g., near-infrared, infrared, and/orfar-infrared). In this configuration, the operating region 16 may beilluminated by the detection emission 38 illuminating various objectsthat enter the field of view 24 of the imager 22. Accordingly, themarker 26 may be illuminated by the detection emission 38 from theemitter 20 a such that the reflected light from the detection emission38 is captured in the image data of the imager 22. To improve theintensity of the detection emission 38 reflected back to the imager 22,in some embodiments, the marker 26 may comprise a reflective surfacefinish configured to reflect the detection emission 38.

In various examples, the light assemblies 18 may be positioned orsuspended from one or more positioning assemblies 40, which may adjust aprojection direction of the light sources 20 by controlling one or moreactuators 42. Accordingly, the positioning assemblies may be configuredto rotate and/or translate independently or in any combination. Asshown, the system 10 may comprise a first positioning mechanism 40 a anda second positioning mechanism 40 b. In general, the positioningassemblies 40 as discussed herein may be configured to control adirection of one or more lighting emissions 44 emitted from the one ormore visible light sources 20 b. As demonstrated and further discussedfurther herein, each of the light sources 20 as well as the positioningassemblies 40 may be in communication with the controller 12, which maybe configured to control a direction of the one or more lightingemissions 44 to illuminate the location of the marker 26 with visiblelight. In this way, the system 10 may be operable to control one or moreof the visible light sources 20 b to illuminate the marker 26 or variousportions of the operating region 16.

In various embodiments, the one or more positioning assemblies 40 maycomprise one or more gimbaled arms, which may be maneuvered or adjustedin response to a movement (e.g., rotational actuation) of one or moreactuators 42 a and 42 b. In this configuration, the controller 12 may beconfigured to control each of the actuators 42 a and 42 b to manipulatethe orientation of a lighting module 46 comprising one or more of thevisible light sources 20 b and/or the detection emitters 20 a. In thisway, the positioning assembly 40 may control the rotation of thelighting module 46 about a first axis 48 a and a second axis 48 b. Suchmanipulation of the lighting module 46 may enable the controller 12 todirect the light sources 20 b to selectively illuminate the operatingregion 16 or various portions of the medical suite 14 in response to thedetected location of the marker 26.

The positioning assemblies 40 and actuators 42 a and 42 b, as discussedherein, may correspond to one or more electrical motors (e.g., servomotors, stepper motors, etc.). Accordingly, each of the positioningassemblies 40 (e.g., the actuators 42) may be configured to rotate thelighting module 360 degrees or within the boundary constraints oflighting modules 46 or other support structures that may support thelighting modules 46. The controller 12 may control the motors oractuators 42 of the lighting modules 46 to direct the lighting emissions44 of the visible light sources 20 b to target a desired location in themedical suite 14. In order to accurately direct the lighting module 46to target the desired location, the controller 12 may be calibrated tocontrol the position of the lighting module 46 to target locations in agrid or work envelope of the medical suite 14. The calibration of such asystem may require maintenance in the form of calibration updates orcompensation due to variations in the operation of the positioningassemblies 40 and actuators 42 that may occur over time.

Still referring to FIG. 1, in operation, the marker 26 may beilluminated by the detection emission 38 in the field of view 24 suchthat the imager 22 may capture the reflection of the marker 26 in imagedata. In some embodiments, the imager 22 may comprise one or morefilters that may limit the transmission of wavelengths of light that arenot included in the detection emission 38 such that the reflection ofthe detection emission 38 may be readily identifiable. Once the imagedata comprising the reflection of the marker 26 is captured, the imagedata may be communicated to the controller 12 such that the location ofthe marker 26 may be identified in the field of view 24. Based on thelocation of the marker 26, the controller 12 may control a lightingemission 44 from the one or more light sources 20 to illuminate thelocation corresponding to the position of the marker 26. The lightsources 20 configured to emit the lighting emission 44 may be referredto as visible light sources 20 b. In this way, the system 10 may providefor a computer-assisted control of a direction of lighting emissionsdirected from the one or more light sources to conveniently illuminatevarious locations within the operating region 16.

In some embodiments, the illumination system 10 may comprise a pluralityof imagers 22 which capture image data from the medical suite 14 and/orfrom the operating region 16. The imagers 22 may be configured to relayimage data to the controller 12 of the illumination system 10. Thecontroller 12 may include a memory and a processor. The memory may storecomputer-executable commands (e.g., routines) which are controlled bythe processor. According to various examples, the memory may include alight control routine and/or an image analyzing routine. The imageanalyzing routine is configured to process data from the imager 22. Forexample, the image analyzing routine may be configured to identifyshadows and luminosity of the operating region 16, the light from theguidance system, location of points of interest (e.g., users around thetable 28) and/or gestures from the users.

According to various examples, the image analyzing routine may also beconfigured to identify the location of the marker 26 in the image data.The marker 26 may include one or more symbols, computer-readable codesand/or patterns that designate a point of interest in the image data.For example, the marker 26 can be positioned around the operating region16 such that the image analyzing routine may identify the location ofthe marker 26 in the operating region 16. The marker 26 may be disposedon one or more instruments, points of interest in the medical suite 14,and/or the patient.

Once the image analyzing routine has processed the data from the imager22, the light control routine may control how the positioning assemblies40 are operated. For example, the light control routine may beconfigured to move, steer, activate or otherwise influence the lightassemblies 18 to emit light at the location of the marker 26. Such alocation may correspond to an area of interest where the user is lookingor working (e.g., as measured from the guidance system). In this way,the light control routine may steer or otherwise move the one or morevisible light sources 20 b to emit the lighting emission 44 toilluminate various areas where the user is looking and/or where handsand instruments may be positioned.

As discussed herein, the illumination system 10 and/or the disclosureprovided above are configured to operate in conjunction with a number ofother features present in the medical suite 14. For example, theillumination system 10 may be configured to track the location and useof the marker 26, which may be coupled to one or more instruments. Theinstruments may be coded based on type (e.g., consumable tool vs.non-consumable) and/or by the operator using or placing them. Theinstruments may be tracked as they enter and exit the operating region16 in response to a detection of the marker 26 in image data captured bythe imager 22. In yet other examples, one or more of the instruments mayinclude a radio frequency identification tracking device.

Referring now to FIG. 2, a schematic view of the illumination system 10is shown comprising an exemplary implementation of the positioningassembly 40 referred to as an articulating head assembly 50. Each of thearticulating head assemblies 50 or articulating assemblies 50 maycomprise a lighting module array 52 of the lighting modules 46. Each ofthe articulating head assemblies 50 may serve as an exemplary embodimentof the one or more positioning assemblies 40 in accordance with thedisclosure. In the exemplary embodiment shown, the articulating headassembly 50 comprises five of the lighting modules 46. The lightingmodules 46 may be suspended from a central control arm 54 comprising aplurality of support arms 56. Extending from each of the support arms56, a lateral support beam 58 or wing may extend laterally outward fromeach of the arms 56 in opposing directions. In this configuration, thelighting modules 46 are supported by the central control arm 54 in adistributed arrangement.

The central control arm 54 may be suspended from a support housing 60along a first axis 62 a (e.g., Y-axis). The support housing 60 maycomprise the controller 12 and a first actuator 64 a configured torotate the central control arm 54 about the first axis. A first lightingmodule 46 a may be suspended along a second axis 62 b (e.g., X-axis)extending between the support arms 56. A second actuator 64 b may be inconnection with the support arms 56 and the first lighting module 46 a.The second actuator 64 b may be configured to rotate the first lightingmodule 46 a about the second axis 62 b. In this configuration, thecontroller 12 may control the emission direction of the first lightingmodule 46 a to rotate approximately 360 degrees about the first axis 62a and the second axis 62 b.

Each of the lateral support beams 58 may support a pair of the lightingmodules 46. That is, a first support beam 58 a may support a secondlighting module 46 b on a first side 66 and a third lighting module 46 con a second side 68. The first side 66 and the second side 68 of thefirst support beam 58 a may extend in opposing directions from the firstsupport beam 58 along a third axis 62 c. A second support beam 58 b maysupport a fourth lighting module 46 d on the first side 66 and a fifthlighting module 46 e on the second side 68. The first side 66 and thesecond side 68 of the second support beam 58 b may extend in opposingdirections from the first support beam 58 along a fourth axis 62 d. Thethird axis 62 c and the fourth axis 62 d may extend perpendicular to thesecond axis 62 b.

Each of the first support beam 58 a and the second support beam 58 b mayconnect to each of the support arms 56 and rotate about the second axis62 b with the first lighting module 46 a. Additionally, each of thelateral support beams may comprise at least one actuator configured torotate the lighting modules 46 b, 46 c, 46 d, and 46 e about the thirdaxis 62 c and the fourth axis 62 d. For example, the first support beam58 a may comprise a third actuator 64 c in connection with the secondlighting module 46 b and the third lighting module 46 c along the thirdaxis 62 c. The second support beam 58 b may comprise a fourth actuator64 d in connection with the fourth lighting module 46 d and the fifthlighting module 46 e along the fourth axis 62 d. In this configuration,the controller 12 may control the second actuator 64 b to rotate each ofthe lighting modules 46 b, 46 c, 46 d, and 46 e about the second axis 62b. Additionally, the controller 12 may control the third actuator 64 cto rotate the second and third lighting modules 46 b and 46 c about thethird axis 62 c. Finally, the controller 12 may control the fourthactuator 64 d to rotate the fourth and fifth lighting modules 46 d and46 e about the fourth axis 62 d.

As previously discussed, each of the light modules 46 may comprise animager 22. In some embodiments, the articulating head assembly 50 maycomprise a single imager 22 or an imager array. For example, the imagerarray may be formed as follows: the first lighting module 46 a maycomprise a first imager 22 a, the second lighting module 46 b maycomprise a second imager 22 b, the third lighting module 46 c maycomprise a third imager 22 c, the fourth lighting module 46 d maycomprise a fourth imager 22 d, and/or the fifth lighting module 46 e maycomprise a fifth imager 22 e. Each of the imagers 22 may be configuredto capture the image data in corresponding fields of view 24 a, 24 b, 24c, 24 d, and 24 e (not shown for clarity). The controller 12 may processthe image data from each of the imagers 22 to identify a region ofinterest. Accordingly, the controller 12 may scan the image data fromeach of the imagers 22 and adjust the orientation of each of thelighting modules 46 to dynamically control the light in the surgicalsuite 14.

Though the imagers 22 are discussed as being incorporated on each of thelighting modules 46, the system 10 may be configured to capture imagedata from any location in the surgical suite 14. As further discussed inreference to FIG. 3, a plurality of the articulating head assemblies 50may be controlled by a central controller in communication with each ofthe controllers 12. In such embodiments, the central controller may beconfigured to process the image data from the one or more imagers 22 andcommunicate control signals for each of the plurality of lightingmodules 46 and the actuators 64 of the articulating head assemblies 50.Accordingly, the system 10 may be implemented in a variety of beneficialembodiments without departing from the spirit of the disclosure.

FIG. 3 is a schematic view of the illumination system 10 comprising ahead assembly array 70 formed of the articulating head assemblies 50.Each of the articulating head assemblies 50 may comprise the lightingmodule array 52. As demonstrated, the head assembly array 70 comprises afirst head assembly 50 a, a second head assembly 50 b, a third assembly50 c, and a fourth head assembly 50 d. Each of the head assemblies 50comprises a corresponding lighting module array 52. For example, thefirst head assembly 50 a comprises the first lighting module array 52 a,the second head assembly 50 b comprises the second lighting module array52 b, the third head assembly 50 c comprises the third lighting modulearray 52 c, and the fourth head assembly 50 d comprises the fourthlighting module array 52 d.

Each of the head assemblies 50 of the head assembly array 70 maycomprise a controller 12 (e.g., a first controller 12 a, a secondcontroller 12 b, a third controller 12 c, and a fourth controller 12 d).The controllers 12 may be configured to independently control each ofthe actuators 64 as discussed in reference to FIG. 5. Additionally, thecontrollers 12 may be in communication via a central control system or adistributed control system incorporated in each of the controllers 12.In this configuration, each of the controllers 12 may be configured toidentify an orientation of the actuators 64 and the correspondingpositions of the lighting modules 46. Based on this information, thesystem 10 may be configured to map a combined illumination pattern orillumination coverage of each of the emissions that may be emitted fromthe light sources 20 of the lighting modules 46. As previouslydiscussed, the map of the combined illumination or emission coverage ofthe combined lighting modules 46 may be programmed into the controllers12 of the system 10 by one or more calibration methods. In this way, thesystem 10 may control each lighting module 46 of the head assemblies 50in concert to provide a scalable, dynamic-lighting system operable toemit the various emissions of light as discussed herein.

As previously discussed, the system 10 may comprise one or more imagers22. In the exemplary embodiment, the controllers 12 a, 12 b, 12 c, and12 d are in communication with a central controller 74. The centralcontroller 74 may comprise or be in communication with one or more ofthe imagers 22. In such embodiments, the imager 22 of the centralcontroller 74 may be configured to identify one or more obstructions ina region of interest 72. The region of interest 72 may be identified bya location of the marker 26, gesture, input via a user interface,identified by a radio frequency identification tracking device, orprogrammed into the central controller 74 in relation to a specificprocedure. Though discussed in reference to the central controller 74,each of the controllers 12 of the head assemblies 50 may alternativelyhave a single imager or multiple imagers. In such embodiments, thecontrollers 12 of each of the head assemblies 50 may be configured todetect the obstructions and communicate among one another to identifythe best response to adjust the lighting modules 46 to illuminate theregion of interest 72.

The identification of one or more obstructions 76 may be based on adetection of an object in the image data. The obstructions 76 may beidentified in response to detecting one or more pulsed infraredemissions emitted from the lighting modules 46. For example, the centralcontroller 74 may be calibrated such that the location of each of aplurality of the detection emitters 20 a is indicated in programming.Accordingly, by cycling through the detection emitters 20 a of each ofthe lighting modules (46 a, 46 b, 46 c . . . 46 m), the controller mayidentify a location of the obstructions 76 based on a timed detection ofeach of the infrared emissions 77. In this way, the central controller74 may detect a location of the obstructions 76 in relation to aprojection trajectory of each of the detection emitters 20 a to identifya clear or unobstructed trajectory 78. Once the unobstructed trajectory78 is identified, the central controller 74 may control one or more ofthe light sources to illuminate the region of interest 72.

In some embodiments, the controllers 12 may communicate within thesystem 10 to identify the region of interest 72 between two or more ofthe imagers 22, which may be incorporated in two or more or the lightingmodules 46. That is, the two or more of the lighting modules 46 fromwhich the image data is processed to identify the region of interest 72may be incorporated in a single head assembly 50 or captured by imagers22 in two or more of the head assemblies 50 (e.g., 50 a and 50 b). Inthis way, the system 10 may operate as a distributed scanning andillumination system formed by the head assemblies 50 and controlled tooperate as a unified system via communication among the controllers 12and/or a central controller.

In general, the central controller 74 or the controllers 12 may beconfigured to identify one or more light sources 20 of the lightingmodules 46 with a line of sight or projection trajectory 78 aligned withthe region of interest 72 without interference by one or moreobstructions 76. Upon identifying at least one lighting module 46 in oneor more of the head assemblies 50 with the clear projection trajectory78, the central controller 74 may respond by controlling one or more ofthe controllers 12 to position the at least one lighting module 46 todirect an emission to the region of interest 72. In this configuration,the head assembly array 70 may provide for effective lighting even whentasked with illuminating obstructed regions that change over time.

As an example of a control sequence of the system 10, the system 10 mayinitially illuminate the table 28 via a lighting module of the secondhead assembly 50 b by emitting a second emission 80 of visible light.After the initial operation of the system 10, the imager 22 may detectthe obstruction 76 in the field of view 24, which may result in one ormore shadows 81 in the region of interest 72. In response to identifyingthe obstruction 76, the central controller 74 may control controllers 12a and 12 b activating a lighting module of the first head assembly 50 athat may have the clear projection trajectory 78 via activating a firstemission 82 of visible light. Once the first emission 82 is activated,the system 10 may continue to monitor the image data to verify that thefirst emission 82 remains unobstructed. In this way, the head assemblyarray 70 may be configured to illuminate the region of interest 72 bycontrolling a plurality of the head assemblies 50 in combination.

Though specific reference is made to identifying a location of theobstruction 76 and the clear projection trajectory 78 from the imagedata, the system 10 may utilize one or more algorithms configured toidentify and project light to the region of interest 72 via a predictiveor experimental algorithm. Such algorithms may apply various inferenceas well as trial and error to gradually move one or more of the headassemblies 50 and gradually activating the light sources 20 toilluminate the region of interest 72. In these methods as well as othersdiscussed herein, the system may consistently monitor the region orregions of interest 72 for changes or improvements in lighting. In thisway, the system 10 may be configured to continue positioning operationsthat improve the projected trajectory of the light as indicated by theimage data from the imagers 22. Such a routine may be applied alone orin combination with the location detection based control discussedherein.

Referring to FIG. 4, a flowchart for a method 90 for controlling thesystem 10 is demonstrated. In operation, the method 90 may begin byinitializing a control routine of the illumination system 10 (92). Onceinitiated, the controller 12 may activate the emitter 20 a to illuminatethe operating region 16 in the detection emission 38 (94). In this way,the operating region 16 may be illuminated by the detection emission 38illuminating various objects that enter the field of view 24 of theimager 22. The controller 12 may then control the imager 22 to captureimage data in the field of view 24 (96). Once the image data iscaptured, the controller 12 may process or scan the image data forvarious objects including the marker 26 (98).

In step 100, the controller 12 may determine if the position of themarker 26 is identified in the image data. If the position of the markeris not identified, the method 90 may return to steps 96 and 98 tocapture and scan the image data in the field of view 24. If the positionof the marker 26 is identified in step 100, the controller 12 maycontrol one or more of the positioning or head assemblies 50 to activatethe lighting emission(s) 44 directed at the marker 26 (102). Once theposition of the marker 26 is identified and illuminated by the lightingemission(s) 44, the controller 12 may continue to track the location ofthe marker 26 and reposition the head assemblies 50 to maintain aconsistent illumination of the marker 26 and the corresponding location(104).

FIGS. 5 and 6 demonstrate a flowchart of a method 110 for controllingthe system 10 to adjust the plurality of target regions 30. FIG. 7demonstrates a simplified diagram of the operating region 16 and thetable 28 demonstrating the target regions 30 for discussion in referenceto the method 110. Referring now to FIGS. 3, 5, 6, and 7 as provided bythe method 110, the system 10 may be configured to track the motion ofthe marker 26 on the control instrument 34, which may be manipulated bythe user 32 to independently adjust the plurality of target regions 30.Continuing from the method 90, the system 10 may be configured tocontrol a first positioning assembly (e.g. the first head assembly 50 a)directing the first emission 82 of visible light to the first targetposition 30 a as discussed in reference to step 102. Additionally, thecontroller 12 may be configured to identify one or more gestures and/ortracking cues that may be controlled by a user 32 to add a second targetposition 30 b, adjust the positions of each of the target positions,and/or provide for various adjustments to the target regions 30.Throughout the operation of the system 10, the controller 12 may beconfigured to illuminate each of the target positions by aligning one ormore of the lighting emissions 80, 82, etc., from the plurality ofpositioning assemblies 40 or head assemblies 50 with each of the targetregions 30.

Continuing from step 122, in response to the positioning of the firsttarget position 30 a, the controller 12 may be configured to track themotion of the marker 26 on the control instrument 34 as previouslydiscussed (114). The motion of the marker 26 may be tracked by thecontroller 12 in response to the motion being less than a predeterminedrate of motion as discussed in reference to step 116. If the rate ofmotion of the marker 26 exceeds the predetermined rate, the controller12 may hold or set the location of the first target position 30 a (118).Additionally, if the marker 26 is removed or otherwise disappears fromthe field of view 24 in step 120, the controller 12 may set the firsttarget position 30 a (118). Adjustment of the target regions 30 isfurther discussed in reference to FIG. 6.

Following step 118, or following the pausing of the tracking in varioussteps discussed herein, the controller 12 may further be configured todetect the marker 26 exiting, entering, and/or re-entering the operatingregion 16 of the field of view 24 (122). In response to the marker 26entering the operating region 16 of the field of view 24, the controller12 may identify the location of the marker 26 and add an additionaltarget, which is discussed in reference to the second target position 30b (124). Once the second target position 30 b is added, the controller12 may control the head assemblies 50 to align the first emission 82with the first target position 30 a and the second emission 80 with thesecond target position 30 b. In response to adding the second targetposition 30 b, the controller 12 may track changes in the position ofthe marker 26 and adjust the second target position 30 b to align withthe location of the marker 26 (126). In this way, the second targetposition 30 b may be added and illuminated by one or more of thelighting modules 46.

Following step 126, the controller 12 may continue to track the positionof the marker 26 in the field of view 24 and update the second targetposition 30 b. The controller 12 may further identify if the firsttarget position 30 a is approximately equal to the second targetposition 30 b in step 128. The approximate equality of the targetregions 30 a and 30 b may be identified in response to the controller 12identifying that the target regions 30 a and 30 b are positioned by themarker 26 within a predetermined range (e.g. a 10 cm diameter region)for a predetermined period of time (e.g. 3 seconds). In response toidentifying that the target regions 30 a and 30 b are positioned by themarker 26 within a predetermined range for the predetermined time, thecontroller 12 may selectively merge the first target position 30 a andthe second target position 30 b and return to step 114.

If the target regions 30 are not merged, the controller 12 may continueto track the position of the marker 26 in the field of view 24 andadjust the second target position 30 b. The motion of the marker 26 maybe tracked by the controller 12 in response to the motion being lessthan a predetermined rate of motion (134). If the rate of motion of themarker 26 exceeds the predetermined rate, the controller 12 may hold orset the location of the second target position 30 b (136). Additionally,if the marker 26 is removed or otherwise disappears from the field ofview 24 in step 138, the controller 12 may set or hold the second targetposition 30 b to the last identified location of the marker 26 (136). Aspreviously discussed, the method 110 may further continue in referenceto FIG. 6, which may provide for the adjustment of the target regions30.

Referring now to FIGS. 6 and 7, a lighting position adjustment routineis discussed, which may begin following either of steps 118 and/or 136from FIG. 5. As discussed in FIG. 6, the routine may be in reference toeither of the target regions 30 a, 30 b or additional target regions 30.In order to reposition either of the target regions 30, the user 32 maymove the control instrument 34 into the field of view 24 such that themarker 26 is proximate to the location of either of the first targetposition 30 a or the second target position 30 b (142). When positioningthe maker 26, the user 32 may arrange the control instrument 34 suchthat the marker 26 is hidden, or concealed from the field of view 24. Insuch examples, the maker 26 may only be displayed on one side of theinstrument 34. The proximity to each of the positions 30 forrepositioning as discussed herein may be within approximately 5 cm to 20cm depending on a desired accuracy or sensitivity of the system 10. Thelocation of the instrument 34 and the marker 26 relative to each of thetarget regions 30 may be visibly apparent to the user 32 because thepositions 30 may be illuminated by the emissions 80, 82, etc.

Once the instrument 34 is located proximate to one of the target regions30 a, 30 b, etc., the user 32 may reveal the marker 26 in the field ofview 24 (144). In step 146, the controller 12 may then identify if themarker 26 is proximate to one of the target regions 30 for greater thana predetermined time (e.g. 3-5 sec.). In response to identifying themarker 26 proximate to either of the target regions 30 for thepredetermined period of time (e.g. 3 seconds), the controller 12 mayadjust the location of the target position 30 a or 30 b in the operatingregion 16 based on the location of the marker 26 in the field of view 24as previously discussed in reference to steps 114 and 126 (148).

In step 150, the controller 12 may continue to adjust the targetposition (e.g. 30 a, 30 b, etc.) based on the location of the marker 26.If the marker 26 is moved outside the operating region 16, thecontroller 12 may remove the corresponding target position (e.g. 30 a,30 b, etc.) and deactivate or reassign the lighting emission (e.g. 80,82) and the corresponding lighting module(s) 46 from illuminating thetarget position (e.g. 30 a, 30 b, etc.) (152). Following the removal ofone of the target regions 30, the controller 12 may continue to themethod 110 until the system is deactivated (154).

Referring to FIG. 8, a block diagram of an illumination system 10 isshown. As discussed herein, the illumination system 10 may include oneor more imagers 22 configured to capture image data from the medicalsuite 14 and/or from the operating region 16 as shown in FIGS. 1 and 3.The imagers 22 may be configured to relay visual information to thecontroller 12 of the illumination system 10. The controller 12 mayinclude a memory 160 and a processor 162. The memory 160 may storecomputer-executable commands (e.g., routines) which are controlled bythe processor 162. According to various examples, the memory 160 mayinclude a light control routine and/or an image analyzing routine. Inexemplary embodiments, the memory 160 may include the lighting controlmethod 90.

Once the image analyzing routine has processed the image data from theimager 22, the controller 12 may communicate one or more controlinstructions to a motor or actuator controller 164. In response to thecontrol signals, the motor controller 164 may control the actuators 42,64 or the positioning assemblies 40 to move, steer, or otherwise adjustan orientation of the light assemblies 18. In this way, the controller12 may direct the lighting assemblies 18 to emit the lighting emission44 and/or direct the field of view 24 to a desired location, which maycorrespond to the location of the marker 26. The system 10 mayadditionally comprise one or more power supplies 166. The power supplies166 may provide for one or more power supplies or ballasts for variouscomponents of the lighting assembly 18 as well as the actuators 42, 64or positioning assemblies 40.

In some embodiments, the system 10 may further comprise one or morecommunication circuits 168, which may be in communication with theprocessor 162. The communication circuit 168 may be configured tocommunicate data and control information to a display or user interface170 for operating the system 10. The interface 170 may comprise one ormore input or operational elements configured to control the system 10and communicate data. The communication circuit 168 may further be incommunication with additional lighting assemblies 18, which may operatein combination as an array of lighting assemblies. The communicationcircuit 168 may be configured to communicate via various communicationprotocols. For example, communication protocols may correspond toprocess automation protocols, industrial system protocols, vehicleprotocol buses, consumer communication protocols, etc. Additionalprotocols may include, MODBUS, PROFIBUS, CAN bus, DATA HIGHWAY,DeviceNet, Digital multiplexing (DMX512), or various forms ofcommunication standards.

In various embodiments, the system 10 may comprise a variety ofadditional circuits, peripheral devices, and/or accessories, which maybe incorporated into the system 10 to provide various functions. Forexample, in some embodiments, the system 10 may comprise a wirelesstransceiver 172 configured to communicate with a mobile device 174. Insuch embodiments, the wireless transceiver 172 may operate similar tothe communication circuit 168 and communicate data and controlinformation for operating the system 10 to a display or user interfaceof the mobile device 174. The wireless transceiver 172 may communicatewith the mobile device 174 via one or more wireless protocols (e.g.Bluetooth®; Wi-Fi (802.11a, b, g, n, etc.); ZigBee®; and Z-Wave®; etc.).In such embodiments, the mobile device 174 may correspond to asmartphone, tablet, personal data assistant (PDA), laptop, etc.

In various embodiments, the light sources 20 may be configured toproduce unpolarized and/or polarized light of one handedness including,but not limited to, certain liquid crystal displays (LCDs), laserdiodes, light-emitting diodes (LEDs), incandescent light sources, gasdischarge lamps (e.g., xenon, neon, mercury), halogen light sources,and/or organic light-emitting diodes (OLEDs). In polarized lightexamples of the light sources 20, the light sources 20 are configured toemit a first handedness polarization of light. According to variousexamples, the first handedness polarization of light may have a circularpolarization and/or an elliptical polarization. In electrodynamics,circular polarization of light is a polarization state in which, at eachpoint, the electric field of the light wave has a constant magnitude,but its direction rotates with time at a steady rate in a planeperpendicular to the direction of the wave.

As discussed, the light assemblies 18 may include one or more of thelight sources 20. In examples including a plurality of light sources 20,the light sources 20 may be arranged in an array. For example, an arrayof the light sources 20 may include an array of from about 1×2 to about100×100 and all variations therebetween. As such, the light assemblies18 including an array of the light sources 20 may be known as pixelatedlight assemblies 18. The light sources 20 of any of the light assemblies18 may be fixed or individually articulated. The light sources 20 mayall be articulated, a portion may be articulated, or none may bearticulated. The light sources 20 may be articulated electromechanically(e.g., a motor) and/or manually (e.g., by a user). In static, or fixed,examples of the light sources 20, the light sources 20 may be assignedto focus on various predefined points (e.g., on a patient and/or on thetable 28).

Modifications of the disclosure will occur to those skilled in the artand to those who make or use the disclosure. Therefore, it is understoodthat the embodiments shown in the drawings and described above aremerely for illustrative purposes and not intended to limit the scope ofthe disclosure, which is defined by the following claims as interpretedaccording to the principles of patent law, including the Doctrine ofEquivalents.

It will be understood by one having ordinary skill in the art thatconstruction of the described disclosure, and other components, is notlimited to any specific material. Other exemplary embodiments of thedisclosure disclosed herein may be formed from a wide variety ofmaterials unless described otherwise herein.

For purposes of this disclosure, the term “coupled” (in all of itsforms: couple, coupling, coupled, etc.) generally means the joining oftwo components (electrical or mechanical) directly or indirectly to oneanother. Such joining may be stationary in nature or movable in nature.Such joining may be achieved with the two components (electrical ormechanical) and any additional intermediate members being integrallyformed as a single unitary body with one another or with the twocomponents. Such joining may be permanent in nature or may be removableor releasable in nature unless otherwise stated.

It is also important to note that the construction and arrangement ofthe elements of the disclosure, as shown in the exemplary embodiments,are illustrative only. Although only a few embodiments of the presentinnovations have been described in detail in this disclosure, thoseskilled in the art who review this disclosure will readily appreciatethat many modifications are possible (e.g., variations in sizes,dimensions, structures, shapes and proportions of the various elements,values of parameters, mounting arrangements, use of materials, colors,orientations, etc.) without materially departing from the novelteachings and advantages of the subject matter recited. For example,elements shown as integrally formed may be constructed of multiple partsor elements shown as multiple parts may be integrally formed, theoperation of the interfaces may be reversed or otherwise varied, thelength or width of the structures and/or members or connector or otherelements of the system 10 may be varied, and the nature or numeral ofadjustment positions provided between the elements may be varied. Itshould be noted that the elements and/or assemblies of the system 10 maybe constructed from any of a wide variety of materials that providesufficient strength or durability, in any of a wide variety of colors,textures, and combinations. Accordingly, all such modifications areintended to be included within the scope of the present innovations.Other substitutions, modifications, changes, and omissions may be madein the design, operating conditions, and arrangement of the desired andother exemplary embodiments without departing from the spirit of thepresent innovations.

It will be understood that any described processes, or steps withindescribed processes, may be combined with other disclosed processes orsteps to form structures within the scope of the present disclosure. Theexemplary structures and processes disclosed herein are for illustrativepurposes and are not to be construed as limiting.

It is also to be understood that variations and modifications can bemade on the aforementioned structures and methods without departing fromthe concepts of the present disclosure, and further, it is to beunderstood that such concepts are intended to be covered by thefollowing claims, unless these claims, by their language, expresslystate otherwise. Further, the claims, as set forth below, areincorporated into and constitute part of this Detailed Description.

As used herein, the term “about” means that amounts, sizes,formulations, parameters, and other quantities and characteristics arenot and need not be exact, but may be approximate and/or larger orsmaller, as desired, reflecting tolerances, conversion factors, roundingoff, measurement error and the like, and other factors known to those ofskill in the art. When the term “about” is used in describing a value oran end-point of a range, the disclosure should be understood to includethe specific value or end-point referred to. Whether or not a numericalvalue or end-point of a range in the specification recites “about,” thenumerical value or end-point of a range is intended to include twoembodiments: one modified by “about,” and one not modified by “about.”It will be further understood that the end-points of each of the rangesare significant both in relation to the other end-point andindependently of the other end-point.

The terms “substantial,” “substantially,” and variations thereof as usedherein are intended to note that a described feature is equal orapproximately equal to a value or description. For example, a“substantially planar” surface is intended to denote a surface that isplanar or approximately planar. Moreover, “substantially” is intended todenote that two values are equal or approximately equal. In someembodiments, “substantially” may denote values within about 10% of eachother, such as within about 5% of each other, or within about 2% of eachother.

What is claimed is:
 1. An illumination system for a room, comprising: alight assembly comprising at least one illumination source configured toselectively direct at least one light emission in an operating region ofthe room; an imager configured to capture image data in a field of viewin the room; a controller in communication with the light assembly andthe imager, wherein the controller is configured to: detect a positionof the marker in the image data; and control the light assembly todirect the at least one light emission within the operating region basedon the position of the marker.
 2. The system according to claim 1,wherein the controller is further configured to: detect the marker inthe image data entering the operating region of the field of view fromoutside an operating perimeter of the operating region.
 3. The systemaccording to claim 2, wherein the operating perimeter is located withinthe field of view and defines a work surface, wherein the light assemblyis configured to selectively illuminate the work surface with a firstlight emission of the at least one light emission.
 4. The systemaccording to claim 2, wherein the controller is further configured to:in response to detecting the marker entering the operating region,control the light assembly to direct a second light emission within theregion based on the position of the marker.
 5. The system according toclaim 4, wherein the controller is further configured to: control thelight assembly to merge a first lighting region illuminated by the firstlight emission with a second lighting region illuminated by the secondlight emission such that the first lighting region overlaps the secondlighting region over a portion of the operating region.
 6. The systemaccording to claim 4, wherein the controller is further configured to:in response to a first lighting region of the first light emissionoverlapping a second lighting region of the second light emission for apredetermined period of time, merge the first lighting region of thefirst light emission with the second lighting region of the second lightemission.
 7. The system according to claim 2, wherein the controller isfurther configured to: selectively control a first target location of afirst lighting region of the first light emission in response toidentifying the marker proximate to the first lighting region for apredetermined period of time.
 8. The system according to claim 7,wherein the controller is further configured to: selectively control asecond target location of a second lighting region of the second lightemission in response to identifying the marker proximate to the secondlighting region for a predetermined period of time.
 9. The systemaccording to claim 7, wherein the controller is further configured to:in response to identifying a change in the position of the marker at arate of motion within a predetermined velocity range in the field ofview, track the motion of the marker within the operating region. 10.The system according to claim 9, wherein the controller is furtherconfigured to: control the first target location of the first lightingregion to change commensurate to the motion of the marker within theoperating region.
 11. The system according to claim 1, wherein thecontroller is further configured to: set a target location for the atleast one lighting region in response to the rate of motion exceedingthe predetermined velocity range.
 12. The system according to claim 1,wherein the controller is further configured to: set a target locationfor the at least one lighting region in response to the markerdisappearing from image data in the operating region.
 13. A method forcontrolling a light assembly comprising at least one illumination sourceconfigured to selectively direct a plurality of light emissions in anoperating region of a room, the method comprising: capturing image datain a field of view in the room; detecting a position of the marker inthe image data; directing a first light emission within the operatingregion based on the position of the marker; detecting the marker in theimage data entering the operating region of the field of view fromoutside an operating perimeter of the operating region; and in responseto detecting the marker entering the operating region, controlling thelight assembly to direct a second light emission within the operatingregion based on the position of the marker.
 14. The method according toclaim 13, further comprising: controlling a first target location of afirst lighting region of the first light emission in response toidentifying the marker proximate to the first lighting region for apredetermined period of time.
 15. The method according to claim 14,further comprising: controlling a second target location of a secondlighting region of the second light emission in response to identifyingthe marker proximate to the second lighting region for a predeterminedperiod of time.
 16. The method according to claim 14, furthercomprising: in response to identifying a change in the position of themarker at a rate of motion within a predetermined velocity range in thefield of view, tracking the motion of the marker within the operatingregion.
 17. The method according to claim 16, further comprising:controlling the first target location of the first lighting region tochange commensurate to the motion of the marker within the operatingregion.
 18. The method according to claim 13, further comprising: inresponse to a first lighting region of the first light emissionoverlapping a second lighting region of the second light emission for apredetermined period of time, merging the first lighting region of thefirst light emission with the second lighting region of the second lightemission.
 19. An illumination system for a room, comprising: a lightassembly comprising at least one illumination source configured toselectively direct at least one light emission in an operating region ofthe room; an imager configured to capture image data in a field of viewin the room; a controller in communication with the light assembly andthe imager, wherein the controller is configured to: control the lightassembly to direct the at least one emission illuminating a lightingregion of the operating region; detect a position of a marker in theimage data; selectively control a target location of the at least onelight emission in response to identifying the marker proximate to thelighting region for a predetermined period of time; in response toidentifying a change in the position of the marker at a rate of motionwithin a predetermined velocity range in the field of view, track themotion of the marker within the operating region; adjust the targetlocation of the at least one light emission to change commensurate tothe motion of the marker within the operating region; and control thelight assembly to direct the at least one light emission to impinge uponthe target location.
 20. The system according to claim 19, wherein thecontroller is further configured to: set the target location for the atleast one lighting region in response to at least one of: the rate ofmotion exceeding the predetermined velocity range; and the markerdisappearing from image data in the operating region.